Device for transferring objects

ABSTRACT

A transfer device for transferring an object at a first location in a first position to a second location in a second position. The device comprises two spaced arms, arm rotating means for rotating the two spaced arms, gripping means for each of the arms for picking up the object, and an object rotating means for controllably rotating the object relative to the arms as the arms are rotated from a first location to a second location. At least one of the gripping means is a rotating gripper rotatably mounted on one of the arms, and the object rotating means includes a sprocket mounted on the rotating gripper; a spring means on the one arm having the rotating gripper, and a chain adapted to engage the sprocket and having one end fixed to the spring and the other end fixed to a mounting point separate from the arms. The position of the mounting point is such that, upon rotation of the arms, the distance along the chain between the sprocket and the mounting point changes and thereby causes the sprocket to rotate the rotating gripper. This in turn causes the object to be rotated from a first position to a second position.

United States Patent 1 [111 3,851,772

Williamson et al. I Dec. 3, 1974 DEVICE FOR TRANSFERRING OBJECTS [57]ABSTRACT [75] Inventors: Ronald Eugene Williamson, A transfer device fortransferring an object at a first Hammonsville; Sidney Clark Porter,location in a first position to a second location ina Jr., EastLiverpool, both of Ohio; second position. The device comprises twospaced Kenneth Frederic Shotting, arms, arm rotating means for rotatingthe two spaced Coraopolis, Pa. arms, gripping means for each of the armsfor picking up the object, and an object rotating means for controllablyrotating the object relative to the arms as the arms are rotated from afirst location to a second loca- [22] Filedz June 4, 1973 tion. At leastone of the gripping means is a rotating gripper rotatably mounted on oneof the arms, and the [211 Appl' 367077 object rotating means includes asprocket mounted on [73] Assignee: Combustion Engineering,lnc.,

Windsor, Conn.

Related U.S. Application Data the rotating gripper; a spring means onthe one arm [62] Division of Set. No. 253,546, May 15, 1972, Pat. No.having the rotating pp and a Chain adapted t0 3,757,484. gage thesprocket and having one end fixed to the 7 spring and the other endfixed to a mounting point [52] U.S. Cl. 214/1 Q separate from the rms.The position of the mounting [51] Int. Cl. 865g 7/08 point is such that,upon rotation of the arms, the dis- [58] Field of Search 214/1" BV, 1BD, 1 Q, 1 H, tance along the chain between the sprocket and the214/13() R, 147 R, 147 G, 147 T, 1 QA, 653 mounting point changes andthereby causes the sprocket to rotate the rotating gripper. This in turn[56] R f ences Cit d causes the object to be rotated from a firstposition to UNITED STATES PATENTS a second posmom 2,697,529 12/1954Hubbell et al 214/147 T 3,758,365 9/1973 Schilling 2:4 1 o x 6 Clams, 16Drawing Figures Primary ExaminerFrank E. Werner Attorney, Agent, orFirm-John R. Nelson PATENTELBEB sum i on or 11 vow 9N wt oh wow m2 92 v9NON mom OON MIN 2N PATENmm- 31974 I 3,851,772

sum #05 any PATENTLLUEC 3mm 3.851.772

sum '88 0F 11 FIG. 9

PATENTLU 313 31974 SHEET (09 0F 11 DEVICE FOR TRANSFERRING OBJECTS Thisis a division of application Ser. No. 253,546 filed May 15, 1972, nowUS. Pat. No. 3,757,484 and entitled Automated Bricklaying Device.

BACKGROUND OF THE INVENTION The above-identified parent applicationrelates to an automated bricklaying device for laying of refractorybricks within a metal pouring ladle to serve as the working liningthereof. In the preferred form of that invention, the refractory bricksare first delivered on a conveyor to a location adjacent thecircumference of the ladle, the bricks being oriented in an uprightposition. It is then necessary to provide a means for transferring thebricks from this location and in this position (upright) to a secondlocation (circumference of ladle) and in a second position (horizontal).That is, the bricks have to be transferred to the ladle circumferenceand oriented in a horizontal position. It is to an apparatus foraccomplishing this transfer that the present invention is directed.

SUMMARY OF THE INVENTION The transfer device of the present invention isoperable to transfer an object at a first location in a first positionto a second location in a second position. Although the invention isdisclosed and described as being usable in a bricklaying machine, thisis not meant to be limiting of the scope of the invention. The transferdevice comprises two spaced arms, means for rotating the two spacedarms, gripping means for each of the arms for picking up the object, andan object rotating means for controllably rotating the object relativeto the arms. At least one of the gripping means is a rotating gripperrotatably mounted on one of the arms. The object rotating means includesa sprocket mounted on the rotating gripper, a spring means mounted onthe arm having the rotating gripper. and a chain adapted to engage thesprocket and having one end fixed to the spring and the other fixed to amounting point which is separate from the'arms. The mounting point ispositioned separate from the arms such that, upon rotation of the armsby the arm rotating means, the distance along the chain between thesprockets and the mounting point changes, this in turn causing thesprocket to rotate the rotating gripper. This rotation causes the objectto be rotated .from its first position to its second position.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side elevation view of theautomated bricklaying device according to the present inventionpositioned within a ladle shell;

FIG. 2 is a front elevation view, partly in section, 7

taken along line 2-2 of FIG. I with a portion thereof removed;

FIG. 3 is a top view of the automated bricklaying device taken alongline 33 of FIG. 1;

FIG. 4 is an elevation view, partly in section, taken along line 4-4 ofFIG. 3;

FIG. 5 is a detailed section view of the conveyor indexirig mechanismaccording to the present invention taken along line 55 of FIG. 3;

FIG. 6 is a perspective view of the brick gripper according to thepresent invention;

FIG. 7 is an elevation view of a portion of the conveyor assembly takenalong line 7-7 of FIG. 11;

FIGS. 8A and 8B are diagrammatic representations showing the operationof the brick gripper according to the present invention;

FIG. 9 is a front elevation view of the conveyor assembly taken alongline 9-9 of FIG. 10;

FIGS. 10, 11 and 12 are detailed plan views of a portion of the conveyorassembly showing the sequential operations according to the presentinvention in laying a brick in the lining of the ladle;

FIG. 13 is a detailed view showing the actuation of a limit switchutilized in the control of the present invention;

FIGS. 14A and 14B are diagrammatic representations of the control systemaccording to the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENT Referring to the drawings, FIGS.1 and 2 show an automated bricklaying device positioned within a metalpouring ladle 22. The ladle 22 is comprised of a steel shell 24 with asafety lining 26 forming the interior thereof. Within the safety lining26 is a working lining 28 which is periodically damaged and erodedduring the steel-making process and needs to be replaced. It is thereplacement of this working lining 28 to which the particularbricklaying device 20 of this invention is concerned.

The automated bricklaying machine is comprised of three separateassemblies such that it may be installed and removed from the ladle inthree pieces or sections, or alternatively it may be installed orremoved as a unit.

'These three assemblies are the support assembly 30,

the elevator frame assembly 64, and the carriage assembly 90. Thesupport assembly 30, as depicted in FIGS. 1 and 2, is a turntablemechanism comprised of a lower platen 32 supported on the floor of theladle 22 by means of leveling screws 40 mounted in flanges 38 spacedabout the periphery of the platen 32 and an upper platen 34 having acentral downwardly extending shaft 36 journaled in bearing 35 on thelower platen 32. The upper platen 34 is supported from the lower platen32 for rotation relative thereto about the shaft 36 by a plurality ofrollers 44 intermittently spaced about and journaled in an upright ring42 positioned at the periphery of the lower platen 32. An annular gearring 46 having outwardly extending gear teeth is centrally located onthe lower platen by an inner locating ring 48 for engaging a pinion gear50 having a shaft 52 journaled in a bearing 54 of the upper plate 34. Asprocket 56 is rigidly fixed to the shaft 52 above the platen 34 and isconnected to a rotary air motor 60 by a chain 58 for rotating the piniongear 50 which in turn will rotate the upper platen 34 relative to thelower platen 32.

The elevator frame assembly 64 is comprised of two spaced T-shapedstandards 65 formed by joining together a rectangular beam 66 and a flatplate 67 as shown in FIGS. 1, 2 and 3. Each of the standards 65 hasintegrally attached thereto at its lower end a connecting couple 68whose inner surface conforms identically to the outer surface of lugs 62provided on the platen 34, the lugs 62 serving to support the elevatorframe assembly at an angle conforming to the slope of the ladle wall 24.A pin 69 passes through the lugs 62 and the connecting bases 68 to holdthe standards in place. Standards are interconnected and held in spacedrelation by a tie bar 70 at the bottom, an X-brace 72 near the top and atie bar support at the top, the support 80 having lifting holes 88 forintroducing into or removing from the ladle 22, either the elevatorframe assembly 64 or the entire bricklaying device 20. A hoist motorsupport 76 integrally attached to the standards 65 extends laterallyoutward from the elevator frame assembly and supports a rotary airactuated hoist motor 78 thereon. A cable 86 extending from the hoistmotor 78 passes over sheaves 81 separated by sheave spacers 83 of theupper and lower hoist blocks 82 and 84, the upper hoist block 82 beingsupported from the tie bar support 80 and the lower hoist block 84 beingsupported by the cable 86. Actuation of the hoist air motor 78 willeffectuate either a lowering or raising of the lower hoist block 84.

The carriage platform assembly is carried by the elevator frame assembly64 in such a manner so as to be vertically movable within the ladle 22.The carriage assembly 90 has horizontal base members 94 supporting aplatform 92-. Two carriage upright supports 96 extend upward from thebase members 94 inclined relative to the plate at an angle substantiallyequal to the incline angle of the ladle and elevator frame assembly 64.The upper portion of the uprights 96 are interconnected by cross support98 having integrally attached thereto a downwardly extending pin 108. Asbest seen in FIG. 4, the cross support 98 and thus the carriage assembly90, is supported from the elevator frame assembly 64 by the lower hoistblock extension 84, the pin 108 passing through a hole in the extension84 and being retained in place by a cotter pin extending through atransverse hole in the pin 108. This manner of supporting the carriageassembly is advantageous in that the lower hoist block 84 remainscoupled to the elevator frame assembly 64 upon removal of the carriageassembly 90 therefrom.

A plurality of rollers 100, 104 and 106 are rotatably mounted from theupright supports 96 so that the carriage platform assembly 90 will beguided in its vertical movement within the ladle 22 by the elevatorframe assembly 64. The upper set of rollers 100 ride on the rear surfaceof the plate 67 of the elevator standard 65 and are journaled in plates102 extending outward from the uprights 96 on either side of thestandards 65 while the lower rollers 106 are journaled in the uprights96 to ride along the front surface of the plate 67. The combination ofthese two sets of rollers 100, 106 provides the necessary stability toinsure that the carriage assembly 90 remains in position as it is movedup and down the standards 65. Lateral stability is provided for thecarriage assembly 90 by the rollers 104 which pass along the outsideedges of the flat plate 67. There are two rollers 104 positioned at theupper portion of the uprights 96 and two positioned at the lowerportion.

A boom mechanism 118 is supported from the cross support 98 for liftingbricks 144 from the pallets of bricks on the platform 92 and placingthem on a delivery means or conveyor assembly 146 to be describedhereinbelow. A support member 120 attached to the cross support member98 carries pivot pin 126 to which is mounted for pivotal movement in ahorizontal plane a first beam 122. A second beam 124 is pivotallyconnected by pin 128 to the first beam 122. A hoist motor 130 isattached to the distal end of the second beam 124 and a cable 131extends downward therefrom to carry ice tong grippers 132. The ice tonggrippers are comprised of two hollow tubes 134 into which extend bars136 having gripping surfaces 138 at the distal ends, the tubes 134 beingpivotally connected by pin 140. Screws 137 tightly hold the bars 136 inplace within the tubes 134. The cable 131 is attached to lugs 142 of thetubes 134 such that upon actuation of the air hoist 130 to retract thecable 131, the hollow tubes 134 pivot about pin to grip a series ofbricks 144, the bricks then being lifted from the pallet and placed onthe conveyor assembly 146.

As best seen in FIGS. 2, 3, 4 and 9, the platform 92 has been cut awaybetween the horizontal support braces 94 so as to provide a channelopening 112 into which extends the conveyor assembly 146. Upper andlower flange means 114 and 116 provided on the horizontal support bracesserve to support the conveyor assembly 146.

The conveyor assembly 146 is comprised of two spaced frame members 148and 150, interconnected by cross support 152, end plate 154 and back andfront plates 156 and 158. Support rollers 160 are journaled in the sidesof the frame members 148 and 150 and engage the upper and lower flangemeans 114, 116 to support and allow free lateral movement of theconveyor assembly 146 within the channel opening 112. The frame member150 has four rollers journaled therein while the frame member 148 hasonly two since frame member 150 will necessarily have to support agreater weight than member 148, as described hereinbelow. An axial airmotor 162 is attached to the inner surface of the frame member 150 withone end connected to a push plate 164 and the other end connected to theend plate 95 of the carriage assembly 90. The air motor 162 serves thepurpose of extending the conveyor assembly 146 outward toward the liningof the ladle or retracting it inward into the carriage assembly 90.

Two chains 166, provided between the frame members 148 and 150, serve asa conveyor to deliver bricks to the front end of the conveyor assembly146. The chains 166 are mounted on two sets of sprockets 168, 174, therear sprockets 168 being interconnected by a common shaft 172 journaledin support on the rear plate 156 and the front sprockets 174 beinginterconnected by common shaft 175 journaled in support 176 attached tothe cross support 152. The chains 166 are driven, in one direction only,by a conveyor indexing means 178 which is best seen in FIG. 5. Theindexing means 178 comprises a one-way friction clutch sprocket 182having an outer sprocket 184 with inner cam surfaces 190, an innercylinder 186 mounted on the common shaft 172 of the rear sprockets 168and a plurality of balls 188 located therebetween. A forward indexingsprocket 181 and an axial air motor 192 with piston rod 194 are mountedto a forward sprocket mount attached to frame member 148. The piston rod194 has attached thereto a chain connector 198 which in turn isconnected to the ends of a chain 196 passing over the forward indexingsprocket 181 and the one-way friction clutch sprocket 182. Extension ofthe piston rod 194 will effect a clockwise rotation of the outersprocket 184 which will cause the balls 188 to become tightly engagedbetween the cam surfaces 190 and the inner cylinder 186 so that theinner cylinder 186, and in turn the shaft 172, will rotate clockwise.This action causes the chains 166 to move bricks forward toward thefront of the conveyor assembly 146. Upon retraction of the piston rod194, however, the outer sprocket 184 rotates counterclockwise and theballs 188 disengage the inner cylinder 186, thereby imparting nocounterclockwise rotation to the common shaft 172. Instead, the chains166 remain stationary.

Located in the forward portion of the conveyor assembly 146 are threedevices for placing and properly positioning the bricks in the wall ofthe lining 28 as they are delivered along the chains 166: a conveyorpositioning mechanism 200, a brick pusher 236 and a brick gripper 264.The conveyor positioning mechanism 200, as best shown in FIGS. 4, 10, 11and 12, serves a dual function of orienting the extension of theconveyor assembly 146 and also the height of the system relative to thelining of the ladle. A wheel holder 202 is attached to the conveyorassembly 146 in a dog leg connection by a pin 204 so as to allow pivotalmovement of the wheel holder 202 thereabout. A support arm 210, pinconnected to the wheel holder 202 by pivot pin 212, has journaled initsdistal end a conveyor extension wheel 208 for riding along the interiorsurface of the lining 28. The conveyor extension wheel 208 controlsactuation of the conveyor extending motor 162 so as to maintain aconstant outward force against the interior of the ladle as bricks arebeing laid in place. Adjustment of the orientation of the conveyorextension wheel 208 is controlled by a pin 215 on support arm 210passing through an adjusting slot 214 in the wheel holder 202 and heldin place by a nut 216. A support cam follower wheel 206 is journaled inthe front face of the wheel holder 202 for riding along the top row ofbricks 144 in the lining 28 to control adjustment of the height of thecarriage assembly 96. This is accomplished by means of a pressureregulator mounted in housing 220 on frame member 150. A pusher block 230having a regulator plunger 232 adapted to enter the regulator isthreaded on a screw 228 attached to the rear support plate 218 of thewheel holder 202. As the cam follower wheel 206 rides on the lining 28,the wheel holder will pivot about pin 204 to force the plunger 236 intothe regulator causing the air hoist 78 to actuate and raise the carriageassembly 90. A spring 222 shown in FIG. 4 is attached between a stop 226and the support plate 218 to bias the wheel holder outward to force theplunger 236 out of the regulator, thereby causing the air hoist to stop.Generally the spring force is sufficient to allow the cam follower wheel206 to support about 5 percent of the weight of the carriage assembly90. Thus it is apparent that an extra set of rollers 160 are necessaryfor supporting frame member 150 in the carriage assembly 90.

The brick pusher 236 as best shown in FlGS. 7 and 10-12 is attached tothe other frame member 148 by means of an upright mounting plate 239which supports a rotary air actuator 238 with a substantially verticallyextending shaft 240. The shaft 240 has attached thereto at its lower enda linkage system comprised of a drive arm 242 having a drive armextension 244 pinned at its distal end by pin 243. A drive arm wheelholder'246 having a drive wheel 250 pinned thereto by pin 252 isintegrally attached at an angle to the drive arm extension 244 such thatthe wheel 250 will rotate in a plane parallel to the upper surface ofthe lining 28. A linkage arm 248 pinned to the air motor 238 by pivotpin 247 and pinned to the drive arm extension 244 by pivot pin 249controls the relative motion of the arm 244. As can be seen in thesequential views of FIGS. 10-12 as the shaft 240 is rotated in acounterclockwise rotation the drive wheel 250 travels along a fixed pathto engage the lastly laid brick and push it into place in the lining 28.

Operation of the brick pusher 236 is controlled by two limit switches257 and 261 positioned on a mounting plate 256 and the top surface ofthe air motor 238 respectively. A shaft block 254 attached to shaft 240has adjustably positioned thereon two actuating members 258 and 262.Upon actuation of the air motor 238, the shaft 240 will rotate in acounterclockwise motion, forcing the lastly laid brick 144 against thenext to lastly laid brick in the lining 28 until the forward limitswitch 261 is actuated by the plate 262. A signal will then be sent toreverse the motion of the shaft 240 to return the brick pusher to itsretracted position, the operation of the air motor 238 ceasing when theblock 258 actuates the return limit switch 257.

The brick gripper 264 for placing a brick 144 in the lining 28 ispositioned on two base pads 270 on the front of the front plate 158, andcomprises an air motor 266 which rotates a shaft 268 extending outwardfrom both sides thereof as best seen in FIGS. 6 and 10-12. Two spacedarms 272 and 282 are attached to the protruding ends of the shaft 268.Swing arm 272 is attached to the shaft 268 by means of two spacedflanges 274 engaging a block 276 rigidly fixed to the shaft 268 and apivot pin 278 passing therethrough. The distal end of the swing arm 272is provided with a gripping pivot point 280 for gripping one end of thebrick 144 and allowing the brick to rotate thereabout. The positioningarm 282 is rigidly fixed to the shaft 266 so as to only rotatetherewith. The distal end of the positioning arm 282 is provided with arotating gripper 284 and a sprocket 288 interconnected by a shaft 286journaled in the arm 282. A clamping axial air motor 308 is pinconnected to the positioning arm 282 by pin 3.12, and has a piston rod310 connected to the swing arm 272 by pivot pin 314. Retraction andextension of the piston rod within air motor 308 will cause the swingarm 272 to pivot about the pin 278 to grip r0 release, respectively, abrick 144 between the gripping point 280 and the rotating gripper 284.

As best shown in FIGS. 6, 7 and 10, a fixed sprocket 290 is rotatablymounted on a shaft 291 which is adjustably fixed within a slot 293 in amounting bracket 292 affixed to the front plate 158 in spaced relationfrom the air motor 266. The vertical elevation of the shaft 291 issubstantially the same as that of the shaft 268 of the air motor 266.Positioned on the rear of the mounting bracket 292 is an axial air motor294 with a piston rod 296 extending outward therefrom toward the fixedsprocket 290. A chain 298 is mounted around a roller 302 journaled inthe side of the positioning arm 282, and the two sprockets 288 and 290,one end of the chain being mounted to the piston rod 29.6 and the otherend being fixed to a spring 300 attached to the side of the positioningarm 282 by pin 304.

The bricks 144 are delivered in what is termed an upright position lyingon a longitudinal edge to the front of the conveyor assembly 146 wherethe brick gripper 264 grasps the bricks and translates them to the wallof the ladle 22 to form the lining 28 thereof. The bricks must bereoriented from the upright position to a horizontal position since thebricks of the lining 28 lie on one side wall surface with one of thelongitudinal edges abutting the safety lining 26 and the otherlongitudinal edge facing inward toward the center of the ladle, Aspreviously noted, the bricks are standard refractory bricks generallydescribed in Us. Pat. No. 3,140,333 with one of the longitudinal edgesbeing longer than the other. Normally, in a circular ladle, the longerof the two longitudinal edges is placed against the safety lining 26 sothat successive bricks in the lining naturally are or bend to conform tothe circular surface of the ladle. Often, however, the size of theladles used in steel shops is increased by making the ladles ellipticalin fashion with flat spots or regions on the circumference of the ladle.In this situation, it is necessary along the flat region to alternatelyreverse the orientation of the bricks so that the short longitudinaledge is alternately placed against the ladle safety lining 26 to form astraight region of lining. This is shown at flat region 29 on FIG. 3,the S denoting a short longitudinal edge and L denoting a longlongitudinal edge. It is this dual reorientation of the bricks withwhich the chain 298 and sprockets 288, 290 are concerned, the operationof which is best seen in FIG. 8A and 8B.

The center of the fixed sprocket 290 is positioned behind the pivotpoint of the gripper arm 282 so that rotation of the arm 282 will causea change in the distance along the path of the chain 298 between the endof the piston rod 296 and the sprocket 288 on the arm 282. The spring300 connected to the end of the chain 298 either extends or compressesto accommodate this change in distance and in turn causes the sprocket288 to rotate relative to the arm 282. For rotation of the arm 282 fromposition A to position C in FIG. 8A, the distance becomes less and thespring 300 compresses to pull the chain 298 around the sprocket 288thereby causing a clockwise rotation of the sprocket and brick relativeto the arm 282. For example, in position A, the arm 282 is oriented atan angle of 26- /2" and picks up a brick 144 lying on its shortlongitudinal edge (denoted by S). The initial length of spring 300 is d,and the center of the fixed sprocket is spaced a distance p behind thepivot point of the arm 282. When the rotary air motor 266 is actuated,the arm 282 rotates counterclockwise 159 through position B to positionC where the bricks 144 are released, the arm 282 being 5- /2 below thehorizontal, and the brick 144 having rotated clockwise 63-" so that itis roughly parallel to the top surface of the lining 28. The spring 300has compressed to a length d The distance p between the center of thesprocket290 and the pivot axis of the arm 282 depends on the size of thesprockets 288 and 290 and the amount of rotation of the arm 282 and maybe determined empirically in order to effectuate the desired rotation ofthe brick 144.

For the situation where the brick 144 is to be laid in the lining 28 ina reverse orientation, (i.e., the short longitudinal edge abutting thesafety lining 26) the piston rod 296 of the air cylinder 294 isretracted to rotate the brick 144 counterclockwise during rotation ofthe arm 282 by the air motor 266. Using the same example as above forFIG. 8A, the brick 144 is initially grasped when the arm 282 is inposition A with the spring 300 having a length d,, and the piston rod296 extended fully. However, as the arm 282 is rotated from position Athrough B to C, the piston rod 296 is retracted a distance r, causingthe brick 144 to rotate counterclockwise I l6- /2 relative to the arm282 such that the short longitudinal edge is adjacent the lining 26. Inthis situation, the spring 300 stretches from d, in position A to d inposition C. Again the distances p and r are dependent on the size of thesprockets 288, 290 and the amount of rotation of the arm 282 and may bedetermined empirically.

Of course it should be understood that there are other ways of combiningthe spring 300, the chain 298, and the two sprockets 288, 290 toproperly reorient the brick 144 before it is placed in the lining 28 ofthe ladle 22. This may be accomplished simply by wrapping the chain 298in the opposite direction around the sprocket 288, that is, firstpassing the chain 298 underneath and then around the top of the sprocket288 to the spring 300. In this situation the spring 300 would stretchand the sprocket 288 would rotate clockwise during the rotation of thearm 282 for laying both a normal oriented and a reverse oriented brick144. Or the size of the sprockets 288, 290 could be varied and theseparation between the center of the fixed sprocket 290 and the centerof rotation of the arm varied, or even the position of the fixedsprocket 290 could be changed. The only thing necessary in making thesechanges is to ensure that it is possible to effectuate two differentamounts of angular rotation of brick 144 as the arm 282 is rotated fromposition A (picking brick up) to position C (releasing brick).

Also provided on the front plate 158 of the conveyor assembly areseveral mechanisms for controlling the operation of the brick layingmachine 20. As shown in FIGS. 6 and 7, an arm stop slide 340 isadjustably positioned along a bracket 342 by means of a screw 344. Anupward protruding member 341 is provided on the arm stop slide 340 forcontrolling the height ofthe gripper arms 272, 282 when picking up abrick 144. Forward motion of the arms 272, 282 is controlled by a limitswitch 306 which in the preferred embodiment in FIG. 6 is shown to beattached to the front of the air motor 266. Upon actuation of limitswitch 306, the arms 272, 282 stop rotating and the brick 144 heldtherebetween is released with the arms then returning to pick up anotherbrick. The advancement of the bricks 144 along the chains 166 iscontrolled by a brick limit switch 346 attached to a bracket 348adjustably locatable on the front sprocket support 176 by means ofascrew 350 as shown in FIGS. 7 and 10. Upon actuation of the limit switch348, the bricks are stopped and remain stationary until the forwardmostbrick is picked up by the gripper 264.

A brick aligner mechanism 316 for ensuring alignment of the bricks 144on the conveyor chains 166 comprises an axial air motor 318 adjustablymounted on a bracket 320, positioned on the frame member as shown inFIGS. 6, 7, 9 and 10. The axial air motor 318 has a piston rod 322 tothe end of which is attached a disc 324. As the bricks 144 are advancedalong the chain 166, the air cylinder 318 is periodically actuated toextend the disc 324 to push the bricks transversely on the chain 166thereby aligning them for pickup by the gripper mechanism 264.

Also positioned on the conveyor assembly 146 is a mortar bucket 326supported by a cross support 330 connected to two uprights 328 mountedon frame members 148 and 150 as shown in FIGS. 1, 2 and 7.

The mortar bucket 326 contains a slurry type mortar delivered to thelining 28 by gravity in a flexible hose 334, one end of which isconnected to the lower nozzle 332 of the mortar bucket 326 and the otherend of which is positioned in a nose support 338 extending outward fromthe air motor 238. A control valve or clamp means 336 having an actuator337 is provided for controlling the flow of mortar to the lining. Itshould be noted that the use of mortar is not necessary due to theinterlocking action of the bricks 144, but is merely shown for thesituation where it is desired to supplement the holding of the bricks inplace in the lining.

The operation of the automated bricklaying device is as follows. Theladle 22 is cleaned of excessive slag and dirt accumulation andinspection and repair of the bottom and the safety lining 26 isundertaken in the conventional manner. The bottom brick lining and wellblock are laid up as is the skew brick ring which is comprised of onetapered starter set 27 and several spiraling courses of semi-universalrefractory brick 144, also in the conventional manner. The taperedstarter set is necessary to provide that the working lining 28 is builtup by spiraling courses.

The automated bricklaying device 20 is then lowered into the ladle,either as a whole unit or in components as previously noted and leveledby screw jacks 40 on turntable 30 to rest on the bottom brick lining.The bricklaying machine may then be connected to a power source andoperated in a manner to be described hereinbelow.

As previously noted, the bricklaying device 20 in the preferredembodiment is a totally air operated device as opposed to, for example,an electrically operated device. This is merely a matter of preference,depending on the type of shop in which the bricklaying machine will beused and the capabilities thereof, and it makes no major difference whattype of power source is employed. It is conventional in most steel shopsto use air as a source of power to operate various devices for operationtherein and, as such, air was initially chosen to supply the power foroperation.

The particular control diagram 400 for the preferred embodiment isdepicted diagrammatically in FIGS. 14A and 148. As a key to aid inunderstanding the diagrammatic representation, the following should benoted. The numbers 412 and 414 on FIG. 14A represent typical main airsupply lines for operating the various air motors and air cylinders ofthe bricklaying machine 20; the numbers 428 and 442 on FIG. 14Arepresent typical pilot lines for switching control valves from oneposition to another; the number 476 on FIG. 14A represents a typicalcheck valve which permits air to flow in the line 478 in one direction(to the right) and prohibits air flow in the other direction (to theleft); the number 594 of 148 represents a typical adjustable flowcontrol valve to control the flow of air therethrough; the number 474 onFIG. 14A represents a typical pressure regulator which controls theamount of air pressure delivered to the left-hand portion of the line414; the number 424 on FIG. 14A represents a typical mechanicallyactuated control valve with a spring return which will return to itsnormal position upon release of the operator; the number 518 on FIG. 14Brepresents a typical air actuated control valve whose position ischanged by providing air to one of the chambers A or B, the valveremaining in that position until air is pro vided to the other of thechambers; and the numbers 408 on FIG. 14A and 538 on FIG. 14B representtypical manually actuated control valves whose position is changedmanually and maintained thereat by detents.

With the above brief description of the diagrammatic representation inFIGS. 14A and 14B, the operation of the bricklaying machine 20 is asfollows. The main supply of air to the machine is provided from acompressor (not shown) by the supply line 402, a filter 404 andlubricator 406 being provided in the line 402 so that the air to thesystem is clean and lubricated. Air is supplied by branch line 416 tothe control valve 418 to operate the air hoist 130 of the boom mechanism118 independent of the rest of the system. The control valve 418 is athree-position valve for controlling the air motor 130 to raise, tolower, or to stop the cable 131. Actuator 419U shifts the valve 418 tosupply air from line 416 to line 420 to raise the cable 131, with air indown line 422 exhausting through vent line 421 while the actuator 419Dshifts the valve 418 to the other side so that air is delivered to thedown side of the air motor 130 to lower the cable 131.

The remainder of the operation of the bricklaying machine is controlledby the three-position manuallyactuated valve 408 which, in FIG. 14A, isshown in a neutral position sending no air to the system. Initially thevalve 408 is placed in the manual" position so that air will be providedfrom the branch line 410 to the main manual control line 412, and theair in the automatic line 414 will exhaust to the atmosphere throughvent line 413. The main hoist valve 434, as with the valve 408, is athree-position valve to which air is delivered via lines 412, 415, 430and 436 to control the air hoist 78 for raising and lowering thecarriage platform assembly 90 on the elevator frame assembly 64. Thecontrol system is also provided with a conventional spring biased brake450 and a slack cable limit switch 426 for restricting operation of theair hoist 78. The

brake 450 automatically locks the air hoist 78 in place if no air issent to it along pilot line 452 and the slack cable limit switchreleases the air in line 429, 452 if the cable 81 of the hoist 78 isslack, the slack position being shown in FIG. 14A. If the cable 81is'not slack, the valve 426 is depressed so that no air will be releasedfrom line 429 as described hereinafter. Pilot air is delivered formanual operation by pilot lines 442 and 446 joined to the air hoist upand down lines 438 and 440 respectively. Check valves 444 and 448 arepositioned in pilot lines 442, 446 to prevent a reverse flow from onepilot line to the other, which would prevent release of the brake 450.

Lowering of the cable 86 of the hoist 78 and thus the carriage assembly90, is accomplished by placing valve 434 in the down" position so thatair will be provided from line 436 through line 440 to both the brake450 and the down side of the air hoist 78. Air is released from the up"side of the motor 78 through the up" line 438 to vent line 439. Thecarriage assembly 90 is lowered until it is at the approximate heightnecessary to start laying bricks in the lining, in which case the valve434 is placed back in its neutral position (see FIG. 4). Next, theconveyor assembly 146 is extended from beneath the carriage assembly 90so that the conveyor extension wheel 208 rides against the inner surfaceof the lastly laid bricks in the lining 28. The conveyor extension valve464 is placed in the out position and air is delivered to the extensionair motor 162 i by lines 412, 415, 458 and 466. A pressure regulator 460in the line 458 controls the amount of air pressure in line 458 to theright of the regulator 460 and as such the amount of pressure deliveredto the extension motor 162. Normally the regulator 460 is set so as toprovide a sufficient force on the conveyor extension wheel 208 toproperly set the bricks 144 in the lining 28 against the safety lining26, this occurring as the conveyor assembly 90 revolves around thecircumference of the ladle, notwithstanding the fact that the turntableassembly is not positioned in the center of the ladle andnotwithstanding the fact that the ladle may be elliptical. As air isdelivered to the extension motor 162 by line 466, air in the in line 468is controllably released to the atmosphere through the vent line 470 andflow control valve 472 situated therein.

After the conveyor assembly 146 has been properly positioned against thelining 28, the carriage assembly is again lowered until the cam followerwheel 206 rests on the top surface of the lining 28. A manual overridevalve 424 has been provided where it is desired to release the brake 450when the cable 86 on the air hoist 78 is slack, such as might occur ifthe hoist 78 were lowered too far when the cam follower wheel 206 restedon the lining 28. When the valve 424 is actuated, air passes from branchline 423 to pilot line 428 to actuate the slack cable limit switch 426so that air in line 429 is not released to the atmosphere through ventline 427, but instead passes to release the brake 450. Although thevalve 426 is positioned to pass air from line 429 through line 484 toline 480, no such passage occurs due to the check valve 482 beingsituated in line 480. Normally the manual override valve 424 ispositioned so that any air in pilot line 428 is released to theatmosphere through vent line 425.

After the carriage assembly 90 is properly positioned within the ladlethe main control valve 408 is shifted to provide air to the automaticline 414 and drain air in the manual line 412 through vent line 413. Theair pressure in the automatic line 414 is controlled by the pressureregulator 474, a bypass line 478 with check valve 476 being provided inparallel to allow drainage of the automatic line 414 when the valve 408is in a manual" position. For automatic operation, the main hoist valve434 is placed in an up position and a pilot line 484 from line 480provides air to release the brake 450 if the cable 86 is not slack. Apressure regulator 488 in line 480, controlled by the conveyorpositioning mechanism 200 as described hereinabove, serves to provideair to the hoist 78. If the plunger 232 (see FIG. 4) is not depressedinto the regulator due to the force exerted by spring 222 being greaterthan that exerted on the cam follower wheel 206, then no air is allowedto pass through the regulator to line 436 to actuate the hoist 78 to'raise the carriage assembly 90. Instead, since the brake 450 isreleased, the carriage assembly 90, and thus the conveyor assembly 146,will start to move downward along the elevator frame assembly 64. As theforce on the cam follower wheel 206 forces the plunger into theregulator 488, air from line 480 is allowed to pass through theregulator to the main hoist valve 434 to actuate the hoist mechanism 78.As the hoist mechanism is actuated, the conveyor assembly 146 is raised,relieving the weight which the cam wheel 206 supports until the spring222-forces the regulator plunger 232 out of the regulator 488 to stopthe flow of air therethrough. The conveyor assembly 146 continues tooscillate, falling downward since the brake 450 is released and risingsince the plunger 232 is inserted, until a balance of forces ismaintained in which the conveyor assembly rests at the proper height.The air hoist 78 is periodically actuated as the cam wheel 206 rides onthe spiraling courses of bricks built up in the lining 28 and thus thistype of mechanism provides a self-regulating control of the height ofthe carriage assembly in the ladle 22. Alternatively, a limit switchcould be used in place of the pressure regulator 488 if precisemodulating control of the height of the platform is not required.

Air from the automatic line 414 is provided to the extension motor 162by branch line 492 which connects to the line 458, the operation of theextension motor 162 being as previously described for manual operationwith the valve 464 in an out position. Check valves 490, 432, 494 and456 are provided in branch lines 480, 430, 492 and 415 respectively sothat the air in these lines will not be released to the atmosphereduring either automatic operation or manual operation. These checkvalves are necessary since both the automatic and manual lines arecommonly connected to the branch lines 436 of the main hoist valve 434and 458 of the main conveyor extension valve 464.

With the conveyor assembly 146 properly positioned relative to thecircumference of the ladle 22 and ready for operation to lay bricks, theboom mechanism 118 is operated to place bricks 144 on the conveyorchains 166. The stop-start switch 538 is then placed in a start position(as shown in FIG. 14B allowing air to pass between pilot lines 532 and540) and the manual operator 500 on the front index switch 498 isactuated. Air passes from line 508 through the valve 498 to the pilotline 510 into chamber B of conveyor indexing valve 518 to switch valve518 so that air passes from branch line 520 to return line 524 toretract the piston rod 194 of the indexing motor 192, air from the otherside of the motor 192 being exhausted through extension line 522 andvent line 519. Pilot air from line 510 is also provided to chamber A ofthe brick aligner valve 544 by line 516 so that air from line 548 passesthrough valve 544 to line 550 to extend the piston rod 322 of the brickaligner motor 318 to align the bricks 144 on the chains 166. The pistonrod 194 of the conveyor indexing motor 192 is retracted until the rodactuator 504 engages the operator of the rear indexing switch 530 toallow pilot air in line 528 to pass through valve 530 into pilot line532. Pilot air is initially delivered to pilot line 528 from pilot line508 via line 526 which passes through the brick limit switch 346 as longas a brick 144 does not engage the operator of the valve 346. The air inline 532 passes through the stop-start switch 538 into chamber A toswitch valve 518 to extend the piston rod 194 of the conveyor indexingmotor 192. At the same time, pilot air in line 532 is delivered by line536 to chamber B of the brick aligner valve 544 causing the valve tochange positions to retract the piston rod 322 of the brick alignercylinder 318. The piston rod 194 is extended until the rod actuator 504engages the operator 502 of the valve 498 to return the rod aspreviously described by manual actuation of operator 500.

This sequence of operation of advancing bricks 144 along the length ofthe conveyor assembly 146 continues until a brick 144 actuates theoperator of the brick limit switch 346 to switch the valve 346 to passair therethrough from line 526 to line 556. Pilot air is then deliveredby line 558 into a chamber in valve 498 to actuate the valve 498 forreturning the piston rod 194 in the indexing cylinder 192. However, whenthe rod actuator 504 engages the operator of valve 530, the valve 518will not switch to extend the rod 194 until the brick 144 is removed torelease the brick limit switch 346 since air is not then being deliveredto line 528. As thus far described, each of the valves and limitswitches 498, 530 and 346 are provided with vent lines 512, 531 and 554respectively so that any air in the connecting lines is released to theatmosphere. This is necessary since the air in either chamber A or B ofvalves 518 and 544, if not released, would oppose the air sent to theother of the chambers and would thus prevent switching of the valves 518and 544.

After a brick 144 has actuated the valve 346, the air in line 556 passesvalve 257 of the brick pusher mechanism 236 which is actuated to allowair into line 564 only when the brick pusher mechanism is in a returnposition. The air in line 564 then passes to chamber B of the grippercontrol valve 568 to switch the valve to allow air to pass therethroughfrom line 506 to line 570. The air in chamber A of valve 568 isexhausted through vent line 601 via lines 612, 602. From line 570, theair is delivered to the clamp cylinder 308 by line 580 which has apressure regulator 586 positioned therein for controlling the clampingforce applied by the motor 308 in order not to crush or crack the bricksgrasped 1 by the arms 272, 282. A bypass line 582 with check valve 584is connected in parallel across the pressure regulator 586 to provide aquick exhaust of air from the clamp motor 308 when the signal is givento release the brick. Line 570 also delivers air to the rotary air motor266 by line 572 to take the brick 144 from the chains 166 and place itin the wall of the ladle 22, the motion being clockwise as shown in FIG.148. A check valve 576 in bypass line 574 is connected in parallelacross a flow control valve 578 in line 572, the check valve 576 passingair quickly to the air motor 266 while preventing back flow therefromand the flow control valve 578 controlling the air released from the airmotor 266 during the return thereof to pick up another brick.

The air in line 570 also passes through the valve 354 located on thebase of the connecting couple 68 of the elevator frame assembly 64 tocontrol the operation of the sprockets 288, 290 and chain 298 on thegripper arm 282. If the operator on the valve 354 has not been actuated,then air is delivered to line 588 to keep the piston rod extended in theair motor 294. Actuation of the operator on the valve 354 can best beseen in FIG. 13 wherein the upper platen 34 has rotated relative to thelower platen 32 such that the limit switch 354 is located adjacent tothe cam trippers 356 supported by supports 358 from the bottom platen32. As the upper platen 34 continues to rotate relative to the lowerplaten 32, the operator of the limit switch 354 will be depressed by thecam tripper 356 thus causing the valve 354 (see FIG. 14B) to shiftpositions so that air in line 570 is delivered to line 590. The air inline 590 passes through a flow control valve 594 to the air cylinder 294to controllably retract the piston rod 296 as the gripper arms 272, 282rotate to lay a brick in the lining 28. A bypass line 596 with checkvalve 598 is provided in parallel to control valve 594 so that air willbe exhausted quickly through line 590 to vent line 592 when the valve354 is not actuated by the cam tripper 356.

As the gripper arms 272, 282 rotate to deliver the brick 144 to thecircumference of the ladle 22, the arm 282 engages and actuates a limitswitch 306 as best seen in FIG. 6. Referring again to FIG. 143, when thelimit switch 306 is actuated, air is provided from pilot line 600 toline 602 and, in turn, to lines 612 and 604. Pilot air in line 604enters chamber A of valve 566 to shift the valve to release the air inchamber B of valve 568 through vent line 567, and pilot air in line 612enters chamber A of valve 568 to shift the valve 568 so air is suppliedfrom line 506 to line 614. Flow control valve 606positioned in line 604restricts the release of air from chamber A of valve 566 in order toprovide a time delay before air may again be delivered to chamber B ofvalve 568 to cause actuation of the motor 266 to lay a brick. Bypassline 608 with check valve 610 is provided in parallel to the flowcontrol valve 606 in order to effect a quick shifting of valve 566. Theair in line 614 is passed to extend the piston rod of the clamp motor308 to release the brick held thereby and is also sent, via branch line620, to return the brick gripper arms 272, 282 to pick up another brick144. A bypass line 624 with check valve 626 is connected in parallelfashion across the flow control valve 622 in line 620 so that air willbe quickly sent to the air motor 266 to return the arms 272, 282, andwill be released through the flow control valve 622 upon actuation ofthe air motor 266 to lay a brick. The pressure regulator 618 in line 614is set so that only a small amount of air, which is all that is neededto effect the return of the brick gripper and release of the brick, isdelivered to the air motor 266 and the clamp motor 308. A check valve616 is placed in line 614 so as to allow a build-up of air on the returnside of the motor 266 when laying a brick in order that the brick is notslammed into the lining. When the valve 568 is in the position shown inFIG. 14B, air in line 570 is released to the atmosphere by vent line569.

Pilot line 602 also delivers air to chamber A of the brick pusher valve628 to switch the valve to allow air to pass from line 630 into line 634to the push side of the air motor 238, thus actuating the brick pushermechanism 236 to push the brick 144 into place against the lastly laidbrick in the lining 28. A pressure regulator 636 is provided in line 634in order that the force of the brick pusher 236 does not become toogreat so as to crush bricks. Air in the return side of the motor 238 isquickly exhausted through vent line 629. As the brick pusher 236 isactuated, air is also sent to actuate the turntable air motor 60. Pilotline 644 continuously delivers air through the normally unactuatedcontrol valve 648 to line 652 into chamber A of turntable control valve654 to force the valve into position to allow air to pass from line 662into line 664, thereby actuating air motor to turn the turntable 30clockwise. The valve 654 is a three-position air actuated, spring biasedvalve such that when air is not being continuously provided to chamber Aor B, then the spring bias will force the valve 654 into a neutralposition as shown in FIG. 148. The brick pusher mechanism 236 is morequickly actuated than the turntable air motor 60 since a flow controlvalve 670 is positioned in line 666 to controllably exhaust the air inthe other side of the air motor 60 through the vent line 668. A bypassline 672 with check valve 674 is connected in parallel across the flowcontrol valve 670 to allow air to pass quickly in line 666 to thecounterclockwise rotation side of the air motor 60 if the valve 668 werein position to deliver air from line 662 to line 666.

The brick pusher 236 continues to rotate, due to actuation of both theair motors 238 and 60, until the limit switch 261 is actuated, thusindicating occurrence of a predetermined amount of rotation which issufficient to allow placement of the next brick in the lining 28. Whenthis occurs, valve 261 shifts to allow air in line 638 to pass to line642 into chamber B of valve 628 to switch the valve to return the brickpusher 236 to its return position. The air in chamber A is exhaustedthrough vent line 601 of valve 306, the valve 306 being in itsunactuated state since the gripper arms on the brick gripper 264 havereturned to their return position. When the brick pusher valve 628changes positions upon air entering chamber B, the air in line 634, andthus in line 644, is released to the atmosphere to the vent line 629.The valve 654 then returns to its neutral position due to the springbias and also due to momentarily air being sent to chamber B by pilotline 646.

During operation of the brick gripper 264 and the operation of the brickpusher 236, the conveyor indexing mechanism 192 has been actuated (dueto release of valve 346 when the brick gripper 264 picked up the brick144) to deliver the next to be laid brick along the conveyor chains 166,thus actuating the valve 346 and sending air from line 526 to line 556.When the brick pusher 236 returns, valve 257 will be actuated and airwill be delivered from line 556 to line 564 and another brick will belaid in place in the manner described above.

When initially orienting the conveyor assembly 146 relative to thecircumference of the ladle 22, it may be necessary 'to actuate air motor60 in order to turn the conveyor assembly. This is accomplished byplacing the main control valve 408 in the manual position and using pushbutton valves 648 and 656. If the air motor 60 is to be operated to turnthe turntable 30 clockwise, valve 648 is continually depressed todeliver air from lines 680, 676 to chamber A of valve 654. The operationfor counter-clockwise rotation of the turntable 34 is accomplished byactuation of valve 656 in a similar manner to that done for clockwiserotation. Check valves 682 and 684 are provided in lines 546 and 415respectively so that air will not be fed into the manual line duringautomatic operation or fed into the automatic line during manualoperation.

From the foregoing it is apparent that there is herein provided anautomated bricklaying device 20 which permits the rapid buildup of thespiraling courses of refractory brick 144 necessary to form the workinglining 28 ofa metal pouring ladle 22. The shell of the ladle 22 providesa circumferential guidance while the spiraling brick courses themselvesprovide the necessary height guidance so that the bricks are properlyplaced to form the working lining 28. A conveyor indexing mechanism 178operates to deliver a series of refractory bricks 144 to the front of aconveyor assembly 146 wherein a brick gripper mechanism 264 grasps thebricks one at a time and lays them in the lining 28 of the ladle 22. Abrick pusher mechanism 236 and a conveyor extension wheel 208 attachedto the front of the conveyor assembly 146 ,serves to firmly secure andset each brick against the previously laid brick and causes actuation ofa turntable motor to index the device 20 to the proper position forlaying the next brick in the lining. During operation of the pushingcycle and indexing cycle, if it is desirous mortar may be provided to beplaced in the working lining so as to ensure a proper seating andholding. of the bricks within the ladle.

It will be understood that various changes in the details, materials andarrangements of parts which have been herein described and illustratedin order to explain the matter of the invention may be made by thoseskilled in the art within the principle and scope of the invention asexpressed in the appended claims.

What is claimed is:

l. A device for transferring an object at a first location in a firstposition to a second location in a second position comprising:

two spaced arms; arm rotating means for rotating said two spaced armsabout a pivot axis; gripping means for each of said arms for picking upsaid object on a common axis therethrough, at least one of said grippingmeans being a rotating gripper rotatably mounted on one of said arms andadapted to impart rotation to said object upon rotation of said rotatinggripper; and object rotating means for controllably rotating saidobjects relative to said arms including a sprocket mounted to saidrotating gripper and rotatable relative to said one arm, a spring meanson said one arm, a chain adapted to engage said sprocket and having oneend fixed to said spring, and a mounting point to which the other end ofsaid chain is fixed, said mounting point being positioned separate fromsaid arms such that, upon rotation of said arms about said pivot axis,the distance along said chain between said sprocket and said mountingpoint changes, said spring means thereby changing length and saidsprocket thereby rotating said rotating gripper to rotate said objectfrom said first position to said second position as said arm rotatingmeans rotates said arms from said first location to said secondlocation. 2. The apparatus of claim 1 wherein said mounting point ismovable relative to said pivot axis such that a first amount of rotationis imparted to said object as said arms rotate when said mounting pointis in a first position and a second amount of rotation is imparted tosaid object as said arms rotate when said mounting point is moved to asecond position.

3. The apparatus of claim 2 wherein said object rotating means furtherincludes a second sprocket for said chain, said second sprocket beingrotatably mounted separate from said arms such that the center ofrotation of said second sprocket is positioned different from said pivotaxis.

4. The apparatus of claim 3 wherein said object rotating means furtherincludes a drive means to move said mounting point.

5. The apparatus of claim 4 wherein said arm rotating means is a rotarymotor.

6. The apparatus of claim 5 wherein there is a reciprocal drive meansfor moving said spaced arms to grasp said object and for moving saidspaced arms to release said object held thereby.

1. A device for transferring an object at a first location in a firstposition to a second location in a second position comprising: twospaced arms; arm rotating means for rotating said two spaced arms abouta pivot axis; gripping means for each of said arms for picking up saidobject on a common axis therethrough, at least one of said grippingmeans being a rotating gripper rotatably mounted on one of said arms andadapted to impart rotation to said object upon rotation of said rotatinggripper; and oBject rotating means for controllably rotating saidobjects relative to said arms including a sprocket mounted to saidrotating gripper and rotatable relative to said one arm, a spring meanson said one arm, a chain adapted to engage said sprocket and having oneend fixed to said spring, and a mounting point to which the other end ofsaid chain is fixed, said mounting point being positioned separate fromsaid arms such that, upon rotation of said arms about said pivot axis,the distance along said chain between said sprocket and said mountingpoint changes, said spring means thereby changing length and saidsprocket thereby rotating said rotating gripper to rotate said objectfrom said first position to said second position as said arm rotatingmeans rotates said arms from said first location to said secondlocation.
 2. The apparatus of claim 1 wherein said mounting point ismovable relative to said pivot axis such that a first amount of rotationis imparted to said object as said arms rotate when said mounting pointis in a first position and a second amount of rotation is imparted tosaid object as said arms rotate when said mounting point is moved to asecond position.
 3. The apparatus of claim 2 wherein said objectrotating means further includes a second sprocket for said chain, saidsecond sprocket being rotatably mounted separate from said arms suchthat the center of rotation of said second sprocket is positioneddifferent from said pivot axis.
 4. The apparatus of claim 3 wherein saidobject rotating means further includes a drive means to move saidmounting point.
 5. The apparatus of claim 4 wherein said arm rotatingmeans is a rotary motor.
 6. The apparatus of claim 5 wherein there is areciprocal drive means for moving said spaced arms to grasp said objectand for moving said spaced arms to release said object held thereby.